diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 74395ec03..209ac5d8f 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -746,7 +746,7 @@ Mavlink::get_free_tx_buf() } void -Mavlink::send_message(const uint8_t msgid, const void *msg) +Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID) { /* If the wait until transmit flag is on, only transmit after we've received messages. Otherwise, transmit all the time. */ @@ -780,7 +780,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) /* use mavlink's internal counter for the TX seq */ buf[2] = mavlink_get_channel_status(_channel)->current_tx_seq++; buf[3] = mavlink_system.sysid; - buf[4] = mavlink_system.compid; + buf[4] = component_ID==0 ? mavlink_system.compid:component_ID; buf[5] = msgid; /* payload */ |